An optimization algorithm for trajectory planning of a 7-DOF redundant manipulator

2016 ◽  
Author(s):  
Hanchen Lu ◽  
Xiaodong Zhou ◽  
Rui Li
Keyword(s):  
Trajectory Planning ◽  
Optimization Algorithm ◽  
Redundant Manipulator

scholarly journals A Bio-inspired trajectory planning method for robotic manipulators based on improved bacteria foraging optimization algorithm and tau theory

2021 ◽  
Vol 19 (1) ◽  
pp. 643-662
Author(s):  
Zhiqiang Wang ◽  
◽  
Jinzhu Peng ◽  
Shuai Ding
Keyword(s):  
Trajectory Planning ◽  
Optimization Algorithm ◽  
Robotic Manipulators ◽  
Planning Method ◽  
Robotic Systems ◽  
Control Points ◽  
Interpolation Algorithm ◽  
Tau Theory ◽  
Small Set ◽  
Bacteria Foraging Optimization Algorithm

<abstract><p>In this paper, a novel bio-inspired trajectory planning method is proposed for robotic systems based on an improved bacteria foraging optimization algorithm (IBFOA) and an improved intrinsic Tau jerk (named Tau-J*) guidance strategy. Besides, the adaptive factor and elite-preservation strategy are employed to facilitate the IBFOA, and an improved Tau-J* with higher-order of intrinsic guidance movement is used to avoid the nonzero initial and final jerk, so as to overcome the computational burden and unsmooth trajectory problems existing in the optimization algorithm and traditional interpolation algorithm. The IBFOA is utilized to determine a small set of optimal control points, and Tau-J* is then invoked to generate smooth trajectories between the control points. Finally, the results of simulation tests demonstrate the eminent stability, optimality, and rapidity capability of the proposed bio-inspired trajectory planning method.</p></abstract>

Gain-optimization trajectory planning method for hyper-redundant manipulator with joint constraints

2019 ◽  
Vol 27 (5) ◽  
pp. 1075-1086
Author(s):  
王文瑞 WANG Wen-rui ◽  
刘克俭 LIU Ke-jian ◽  
顾金麟 GU Jin-lin ◽  
李 昂 LI Ang ◽  
储海荣 CHU Hai-rong ◽  
...  
Keyword(s):  
Trajectory Planning ◽  
Planning Method ◽  
Redundant Manipulator ◽  
Joint Constraints ◽  
Gain Optimization

A trajectory planning model of tiltrotor considering multi-phase and multi-mode flight

2019 ◽  
Vol 233 (16) ◽  
pp. 6019-6031
Author(s):  
Jing Zhang ◽  
Wu Yu ◽  
Xiangju Qu
Keyword(s):  
Particle Swarm Optimization ◽  
Trajectory Planning ◽  
Optimization Algorithm ◽  
Particle Swarm Optimization Algorithm ◽  
Model Simulation ◽  
Particle Swarm ◽  
Planning Model ◽  
Swarm Optimization ◽  
Multi Phase ◽  
Multi Mode

A trajectory planning model of tiltrotor with multi-phase and multi-mode flight is proposed in this paper. The model is developed to obtain the trajectory of tiltrotor with consideration of flight mission and environment. In the established model, the flight mission from take-off to landing is composed of several phases which are related to the flight modes. On the basis of the flight phases and the flight modes, the trajectory planning model of tiltrotor is described from three aspects: i.e. tiltrotor dynamics including motion equations and maneuverability, flight mission requirements, and flight environment including different no-fly zones. Then, particle swarm optimization algorithm is applied to generate the trajectory of tiltrotor online. The strategy of receding horizon optimization is adopted, and the control inputs in the next few seconds are optimized by particle swarm optimization algorithm. Flight mission simulations with different situations are carried out to verify the rationality and validity of the proposed trajectory planning model. Simulation results demonstrate that the tiltrotor flying with multi-mode can reach the target in three cases and can avoid both static and dynamic obstacles.

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